A lane changing system is arranged in a vehicle and comprises an inertia detection unit, a map data unit, a visual tracker, a memory, a processor and a rotating device. The inertia detection unit detects the speed, acceleration and body parameters of the vehicle. The map data unit detects the real-time position of the vehicle and stores road sideline information. The visual tracker detects a roadcurvature value and a relative distance, and captures a road sideline image and a vehicle periphery image. Vehicle parameters are stored in the processor, and the processor calculates the lateral acceleration according to the vehicle parameters, the vehicle speed, the acceleration and the road curvature value. When the processor judges that the relative distance is smaller than a threshold value,the lateral acceleration is smaller than a safety threshold value and the vehicle periphery image is safe, a steering signal is generated. And when the rotating device receives the steering signal, the vehicle is controlled to change lanes.

    一种车道变换系统,装设于车辆中,包含惯性检测单元、图资单元、视觉追踪器、内存、处理器及转动装置。惯性检测单元检测车辆的车速、加速度及车体参数。图资单元检测车辆的实时位置,并储存有道路边线信息。视觉追踪器检测道路曲率值、相对距离、并撷取道路边线影像及车辆周边影像。处理器储存有车辆参数,处理器依据车辆参数、车速、加速度及道路曲率值计算出侧向加速度。处理器判断相对距离小于门槛值、且侧向加速度小于安全阈值、及车辆周边影像为安全时,产生转向信号。转动装置接收转向信号时,控制车辆切换车道。


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    Title :

    Lane changing system and lane changing method


    Additional title:

    车道变换系统及车道变换方法


    Contributors:
    WU BAIFU (author) / CHEN YUANJUN (author) / LI GANG (author) / PAN ZHENGMING (author)

    Publication date :

    2020-05-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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